By Topic

The kinematics of motion planning for multilegged vehicles over uneven terrain

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Lee, W.-J. ; AT&T Eng. Res. Center, Princeton, NJ, USA ; Orin, D.E.

A motion planning algorithm for uneven-terrain locomotion for a multilegged vehicle is described. The algorithm has been developed based on the vehicle/terrain kinematic relationships. The vehicle model is chosen from a hexapod vehicle, named the Adaptive Suspension Vehicle (ASV), which has been constructed at Ohio State University (OSU) and is currently being tested. A simple body-regulation plan has been designed based on the local slope of the terrain and should increase the safety and adaptability of the vehicle. The local terrain is estimated by using the support points of the supporting legs and proximity information from the transfer legs. The adjustment of the position and dimensions of the constrained working volume for each leg, which increases the vehicle stability over sloped terrain, is discussed. The algorithm has been implemented in simulation on a PDP-11/70 minicomputer, from which test results are given

Published in:

Robotics and Automation, IEEE Journal of  (Volume:4 ,  Issue: 2 )